ardupilot/ArduCopterMega/commands.pde

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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
void init_commands()
{
read_EEPROM_waypoint_info();
wp_index = 0;
command_must_index = 0;
command_may_index = 0;
next_command.id = CMD_BLANK;
}
void update_auto()
{
if (wp_index == wp_total){
return_to_launch();
//wp_index = 0;
}
}
void reload_commands()
{
init_commands();
read_command_index(); // Get wp_index = command_must_index from EEPROM
if(wp_index > 0){
decrement_WP_index;
}
}
// Getters
// -------
struct Location get_wp_with_index(int i)
{
struct Location temp;
long mem;
// Find out proper location in memory by using the start_byte position + the index
// --------------------------------------------------------------------------------
if (i > wp_total) {
temp.id = CMD_BLANK;
}else{
// read WP position
mem = (WP_START_BYTE) + (i * WP_SIZE);
temp.id = eeprom_read_byte((uint8_t*)mem);
mem++;
temp.p1 = eeprom_read_byte((uint8_t*)mem);
mem++;
temp.alt = (long)eeprom_read_dword((uint32_t*)mem);
mem += 4;
temp.lat = (long)eeprom_read_dword((uint32_t*)mem);
mem += 4;
temp.lng = (long)eeprom_read_dword((uint32_t*)mem);
}
return temp;
}
// Setters
// -------
void set_wp_with_index(struct Location temp, int i)
{
i = constrain(i,0,wp_total);
uint32_t mem = WP_START_BYTE + (i * WP_SIZE);
eeprom_write_byte((uint8_t *) mem, temp.id);
mem++;
eeprom_write_byte((uint8_t *) mem, temp.p1);
mem++;
eeprom_write_dword((uint32_t *) mem, temp.alt);
mem += 4;
eeprom_write_dword((uint32_t *) mem, temp.lat);
mem += 4;
eeprom_write_dword((uint32_t *) mem, temp.lng);
}
void increment_WP_index()
{
if(wp_index < wp_total){
wp_index++;
Serial.print("MSG WP index is incremented to ");
Serial.println(wp_index,DEC);
}else{
Serial.print("MSG Failed to increment WP index of ");
Serial.println(wp_index,DEC);
}
}
void decrement_WP_index()
{
if(wp_index > 0){
wp_index--;
}
}
//********************************************************************************
//This function sets the waypoint and modes for Return to Launch
//********************************************************************************
// add a new command at end of command set to RTL.
void
return_to_launch(void)
{
// home is WP 0
// ------------
wp_index = 0;
// Loads WP from Memory
// --------------------
set_next_WP(&home);
// Altitude to hold over home
// Set by configuration tool
// -------------------------
next_WP.alt = read_alt_to_hold();
}
struct
Location get_LOITER_home_wp()
{
// read home position
struct Location temp = get_wp_with_index(0);
temp.id = CMD_LOITER;
temp.alt = read_alt_to_hold();
return temp;
}
void
set_current_loc_here()
{
//struct Location temp;
set_next_WP(&current_loc);
}
/*
This function stores waypoint commands
It looks to see what the next command type is and finds the last command.
*/
void
set_next_WP(struct Location *wp)
{
//send_message(SEVERITY_LOW,"load WP");
Serial.print("MSG set_next_WP, wp_index: ");
Serial.println(wp_index,DEC);
send_message(MSG_COMMAND, wp_index);
// copy the current WP into the OldWP slot
// ---------------------------------------
prev_WP = current_loc;
// Load the next_WP slot
// ---------------------
next_WP = *wp;
// offset the altitude relative to home position
// ---------------------------------------------
next_WP.alt += home.alt;
// used to control FBW and limit the rate of climb
// -----------------------------------------------
target_altitude = current_loc.alt;
offset_altitude = next_WP.alt - current_loc.alt;
// zero out our loiter vals to watch for missed waypoints
loiter_delta = 0;
loiter_sum = 0;
loiter_total = 0;
float rads = (abs(next_WP.lat)/t7) * 0.0174532925;
//377,173,810 / 10,000,000 = 37.717381 * 0.0174532925 = 0.658292482926943
scaleLongDown = cos(rads);
scaleLongUp = 1.0f/cos(rads);
// this is handy for the groundstation
wp_totalDistance = getDistance(&current_loc, &next_WP);
wp_distance = wp_totalDistance;
print_current_waypoints();
target_bearing = get_bearing(&current_loc, &next_WP);
old_target_bearing = target_bearing;
// this is used to offset the shrinking longitude as we go towards the poles
// set a new crosstrack bearing
// ----------------------------
reset_crosstrack();
}
// run this at setup on the ground
// -------------------------------
void init_home()
{
Serial.println("MSG: init home");
// Extra read just in case
// -----------------------
//GPS.Read();
// block until we get a good fix
// -----------------------------
while (!GPS.new_data || !GPS.fix) {
GPS.update();
}
home.id = CMD_WAYPOINT;
home.lng = GPS.longitude; // Lon * 10**7
home.lat = GPS.latitude; // Lat * 10**7
home.alt = GPS.altitude;
home_is_set = true;
// ground altitude in centimeters for pressure alt calculations
// ------------------------------------------------------------
//ground_alt = GPS.altitude;
//pressure_altitude = GPS.altitude; // Set initial value for filter
save_EEPROM_pressure();
// Save Home to EEPROM
// -------------------
set_wp_with_index(home, 0);
// Save prev loc
// -------------
prev_WP = home;
}